Development of large intestine endoscope changing its stiffness. - Shuichi Wakimoto; Issei Kumagai; Koichi Suzumori (ROBIO, 2009)

Development of large intestine endoscope changing its stiffness -2nd report: Improvement of stiffness change device and insertion experiment-. - Issei Kumagai; Shuichi Wakimoto; Koichi Suzumori (ROBIO, 2010)

Development of Variable Stiffness Colonoscope Consisting of Pneumatic Drive Devices. - Shuichi Wakimoto; Issei Kumagai; Koichi Suzumori (Int. J. Autom. Technol., 2011)